Inverse kinematics for a robot arm

[Snorro]

I have to design an articulated arm robot for my undergraduate project and the inverse kinematics are turning out to be a real problem! Can anyone tell me where I can find either arm sloutions for the Jacobian matrices online or provide code/software that I can use?

[Admin]

Can you give us an FBD? How many DoF?

(there is no source that has *all* possible arm designs )